diff --git a/README.MD b/README.MD index b25ce076..f11b1245 100644 --- a/README.MD +++ b/README.MD @@ -32,7 +32,7 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x): recommended for new designs - Gemini 301 + Gemini 301 Gemini 305 not supported recommended for new designs @@ -42,6 +42,11 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x): not supported recommended for new designs + + Gemini 309g + not supported + recommended for new designs + Gemini 330 Gemini 335 @@ -341,15 +346,20 @@ For optimal performance, we strongly recommend updating to the latest firmware v gemini435_le.launch.py - Gemini 301 + Gemini 301 Gemini 305 1.0.70 - gemini305.launch.py + gemini_301_series.launch.py Gemini 305g 1.0.70 - gemini305_g.launch.py + gemini_301_series.launch.py + + + Gemini 309g + 1.0.70 + gemini_301_series.launch.py Gemini 330 diff --git a/README_CN.MD b/README_CN.MD index 25a7a871..f09cd8ba 100644 --- a/README_CN.MD +++ b/README_CN.MD @@ -31,7 +31,7 @@ OrbbecSDK ROS2 Wrapper 提供 Orbbec 相机与 ROS 2 环境的无缝集成，支 recommended for new designs - Gemini 301 + Gemini 301 Gemini 305 not supported recommended for new designs @@ -41,6 +41,11 @@ OrbbecSDK ROS2 Wrapper 提供 Orbbec 相机与 ROS 2 环境的无缝集成，支 not supported recommended for new designs + + Gemini 309g + not supported + recommended for new designs + Gemini 330 Gemini 335 @@ -339,15 +344,20 @@ ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}' gemini435_le.launch.py - Gemini 301 + Gemini 301 Gemini 305 1.0.70 - gemini305.launch.py + gemini_301_series.launch.py Gemini 305g 1.0.70 - gemini305_g.launch.py + gemini_301_series.launch.py + + + Gemini 309g + 1.0.70 + gemini_301_series.launch.py Gemini 330 diff --git a/orbbec_camera/launch/gemini305_g.launch.py b/orbbec_camera/launch/gemini305_g.launch.py deleted file mode 100644 index 32d27863..00000000 --- a/orbbec_camera/launch/gemini305_g.launch.py +++ /dev/null @@ -1,363 +0,0 @@ -import os -import yaml -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node -from launch_ros.descriptions import ComposableNode - - -def load_yaml(file_path): - try: - with open(file_path, 'r') as f: - return yaml.safe_load(f) - except Exception as e: - print(f"[orbbec_camera] Failed to load yaml '{file_path}': {e}") - return {} - - -def merge_params(default_params, yaml_params): - if not isinstance(yaml_params, dict): - print(f"[orbbec_camera] YAML parameters should be a dictionary.") - return default_params - for key, value in yaml_params.items(): - default_params[key] = value - return default_params - - -def resolve_config_file_path(config_file_path: str) -> str: - if not config_file_path: - return config_file_path - if os.path.isabs(config_file_path) and os.path.exists(config_file_path): - return config_file_path - if os.path.exists(config_file_path): - return config_file_path - config_dir = os.path.normpath(os.path.join(os.path.dirname(__file__), '..', 'config')) - candidate = os.path.join(config_dir, config_file_path) - if os.path.exists(candidate): - return candidate - return config_file_path - - -def convert_value(value): - if isinstance(value, str): - try: - return int(value) - except ValueError: - pass - try: - return float(value) - except ValueError: - pass - if value.lower() == 'true': - return True - elif value.lower() == 'false': - return False - return value - - -def load_parameters(context, args): - default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args} - config_file_path = resolve_config_file_path( - LaunchConfiguration('config_file_path').perform(context) - ) - if config_file_path: - yaml_params = load_yaml(config_file_path) - default_params = merge_params(default_params, yaml_params) - skip_convert = {'config_file_path', 'usb_port', 'serial_number'} - - result = {} - for key, value in default_params.items(): - if key in skip_convert: - result[key] = value - elif 'enable_pub_plugins' in key: - if isinstance(value, str): - if value.startswith('[') and value.endswith(']'): - try: - result[key] = yaml.safe_load(value) - except: - result[key] = [value] - else: - result[key] = [value] - elif isinstance(value, list): - result[key] = value - else: - result[key] = [str(value)] - else: - result[key] = convert_value(value) - - return result - - -def generate_launch_description(): - args = [ - DeclareLaunchArgument('device_type', default_value='camera'), - DeclareLaunchArgument('camera_name', default_value='camera'), - DeclareLaunchArgument('depth_registration', default_value='false'), - DeclareLaunchArgument('serial_number', default_value=''), - DeclareLaunchArgument('usb_port', default_value=''), - DeclareLaunchArgument('device_num', default_value='1'), - DeclareLaunchArgument('upgrade_firmware', default_value=''), - DeclareLaunchArgument('preset_firmware_path', default_value=''), - DeclareLaunchArgument('load_config_json_file_path', default_value=''), - DeclareLaunchArgument('export_config_json_file_path', default_value=''), - DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2 - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('enable_point_cloud', default_value='true'), - DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'), - DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), - DeclareLaunchArgument('cloud_frame_id', default_value=''), - DeclareLaunchArgument('connection_delay', default_value='10'), - DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color - DeclareLaunchArgument('ae_strategy', default_value='motion'), # default or motion - DeclareLaunchArgument('color_width', default_value='848'), - DeclareLaunchArgument('color_height', default_value='530'), - DeclareLaunchArgument('color_fps', default_value='30'), - DeclareLaunchArgument('color_format', default_value='YUYV'), - DeclareLaunchArgument('enable_color', default_value='true'), - DeclareLaunchArgument('color_qos', default_value='default'), - DeclareLaunchArgument('color_camera_info_qos', default_value='default'), - DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'), - DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270 - DeclareLaunchArgument('color_flip', default_value='false'), - DeclareLaunchArgument('color_mirror', default_value='false'), - DeclareLaunchArgument('color_ae_roi_left', default_value='-1'), - DeclareLaunchArgument('color_ae_roi_right', default_value='-1'), - DeclareLaunchArgument('color_ae_roi_top', default_value='-1'), - DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'), - DeclareLaunchArgument('color_exposure', default_value='-1'), - DeclareLaunchArgument('color_gain', default_value='-1'), - DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'), - DeclareLaunchArgument('color_white_balance', default_value='-1'), - DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), - DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'), - DeclareLaunchArgument('color_brightness', default_value='-1'), - DeclareLaunchArgument('color_sharpness', default_value='-1'), - DeclareLaunchArgument('color_gamma', default_value='-1'), - DeclareLaunchArgument('color_saturation', default_value='-1'), - DeclareLaunchArgument('color_contrast', default_value='-1'), - DeclareLaunchArgument('color_hue', default_value='-1'), - DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3 - DeclareLaunchArgument('color_anti_flicker', default_value='false'), - DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto - DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), - DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), - DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising. - #Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support. - - DeclareLaunchArgument('depth_width', default_value='848'), - DeclareLaunchArgument('depth_height', default_value='530'), - DeclareLaunchArgument('depth_decimation_factor', default_value='1'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y16'), - DeclareLaunchArgument('enable_depth', default_value='true'), - DeclareLaunchArgument('depth_qos', default_value='default'), - DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), - DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'), - DeclareLaunchArgument('depth_precision', default_value=''), - DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270 - DeclareLaunchArgument('depth_flip', default_value='false'), - DeclareLaunchArgument('depth_mirror', default_value='false'), - DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'), - DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'), - DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'), - DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'), - DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'), - DeclareLaunchArgument('left_ir_width', default_value='848'), - DeclareLaunchArgument('left_ir_height', default_value='530'), - DeclareLaunchArgument('left_ir_decimation_factor', default_value='1'), - DeclareLaunchArgument('left_ir_fps', default_value='30'), - DeclareLaunchArgument('left_ir_format', default_value='Y8'), - DeclareLaunchArgument('enable_left_ir', default_value='false'), - DeclareLaunchArgument('left_ir_qos', default_value='default'), - DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), - DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270 - DeclareLaunchArgument('left_ir_flip', default_value='false'), - DeclareLaunchArgument('left_ir_mirror', default_value='false'), - DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'), - DeclareLaunchArgument('right_ir_width', default_value='848'), - DeclareLaunchArgument('right_ir_height', default_value='530'), - DeclareLaunchArgument('right_ir_decimation_factor', default_value='1'), - DeclareLaunchArgument('right_ir_fps', default_value='30'), - DeclareLaunchArgument('right_ir_format', default_value='Y8'), - DeclareLaunchArgument('enable_right_ir', default_value='false'), - DeclareLaunchArgument('right_ir_qos', default_value='default'), - DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'), - DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270 - DeclareLaunchArgument('right_ir_flip', default_value='false'), - DeclareLaunchArgument('right_ir_mirror', default_value='false'), - DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'), - DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'), - DeclareLaunchArgument('ir_exposure', default_value='-1'), - DeclareLaunchArgument('ir_gain', default_value='-1'), - DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'), - DeclareLaunchArgument('ir_brightness', default_value='-1'), - DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'), - DeclareLaunchArgument('enable_accel', default_value='false'), - DeclareLaunchArgument('enable_accel_data_correction', default_value='true'), - DeclareLaunchArgument('accel_rate', default_value='200hz'), - DeclareLaunchArgument('accel_range', default_value='4g'), - DeclareLaunchArgument('enable_gyro', default_value='false'), - DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'), - DeclareLaunchArgument('gyro_rate', default_value='200hz'), - DeclareLaunchArgument('gyro_range', default_value='1000dps'), - DeclareLaunchArgument('linear_accel_cov', default_value='0.01'), - DeclareLaunchArgument('angular_vel_cov', default_value='0.01'), - DeclareLaunchArgument('publish_tf', default_value='true'), - DeclareLaunchArgument('tf_publish_rate', default_value='0.0'), - DeclareLaunchArgument('ir_info_url', default_value=''), - DeclareLaunchArgument('color_info_url', default_value=''), - - DeclareLaunchArgument('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le - DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular - DeclareLaunchArgument('log_level', default_value='info'), - DeclareLaunchArgument('log_file_name', default_value=''), - DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), - DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), - DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'), - DeclareLaunchArgument('sync_mode', default_value='standalone'), - DeclareLaunchArgument('depth_delay_us', default_value='0'), - DeclareLaunchArgument('color_delay_us', default_value='0'), - DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_enabled', default_value='true'), - DeclareLaunchArgument('software_trigger_enabled', default_value='true'), - DeclareLaunchArgument('frames_per_trigger', default_value='2'), - DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms - DeclareLaunchArgument('enable_frame_sync', default_value='true'), - DeclareLaunchArgument('ordered_pc', default_value='false'), - DeclareLaunchArgument('enable_depth_scale', default_value='true'), - DeclareLaunchArgument('enable_decimation_filter', default_value='false'), - DeclareLaunchArgument('enable_hdr_merge', default_value='false'), - DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('enable_threshold_filter', default_value='false'), - DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'), - DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'), - DeclareLaunchArgument('enable_spatial_filter', default_value='false'), - DeclareLaunchArgument('enable_temporal_filter', default_value='false'), - DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'), - DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), - DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'), - DeclareLaunchArgument('enable_spatial_moderate_filter', default_value='false'), - DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), - DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), - DeclareLaunchArgument('threshold_filter_max', default_value='-1'), - DeclareLaunchArgument('threshold_filter_min', default_value='-1'), - DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'), - DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'), - DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'), - DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'), - DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'), - DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'), - DeclareLaunchArgument('spatial_filter_radius', default_value='-1'), - DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'), - DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'), - DeclareLaunchArgument('hole_filling_filter_mode', default_value=''), - DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'), - DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'), - DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'), - DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'), - DeclareLaunchArgument('spatial_fast_filter_radius', default_value='-1'), - DeclareLaunchArgument('spatial_moderate_filter_diff_threshold', default_value='-1'), - DeclareLaunchArgument('spatial_moderate_filter_magnitude', default_value='-1'), - DeclareLaunchArgument('spatial_moderate_filter_radius', default_value='-1'), - DeclareLaunchArgument('align_mode', default_value='SW'), - DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH - DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds - DeclareLaunchArgument('depth_precision', default_value=''), - DeclareLaunchArgument('device_preset', default_value='Default'), # Default, High Accuracy, Close Range High Accuracy, Factory Calib, Dual Color Streams, Custom - DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), - DeclareLaunchArgument('enable_sync_host_time', default_value='false'), - DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds - DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system - DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime. - DeclareLaunchArgument('enable_frame_drop_log', default_value='false'), - DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), - DeclareLaunchArgument('enable_color_undistortion', default_value='false'), - DeclareLaunchArgument('enable_depth_undistortion', default_value='false'), - DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'), - DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'), - DeclareLaunchArgument('config_file_path', default_value=''), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - DeclareLaunchArgument('enable_firmware_log', default_value='false'), - DeclareLaunchArgument('disparity_range_mode', default_value='-1'), - DeclareLaunchArgument('disparity_search_offset', default_value='-1'), - DeclareLaunchArgument('disparity_offset_config', default_value='false'), - DeclareLaunchArgument('offset_index0', default_value='-1'), - DeclareLaunchArgument('offset_index1', default_value='-1'), - DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable - DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'), - DeclareLaunchArgument('interleave_frame_enable', default_value='false'), - DeclareLaunchArgument('interleave_skip_enable', default_value='false'), - DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir - - DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), - DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), - DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'), - DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'), - DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), - DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), - DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'), - DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'), - - DeclareLaunchArgument('show_fps_enable', default_value='false'), - - #color image transport plugins - DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), - #depth image transport plugins - DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'), - #infra1 - DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), - #infra2 - DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), - - DeclareLaunchArgument('intra_camera_sync_reference', default_value=""),#Start, Middle or End - - ] - - def get_params(context, args): - return [load_parameters(context, args)] - - def create_node_action(context, args): - params = get_params(context, args) - ros_distro = os.environ.get("ROS_DISTRO", "humble") - if ros_distro == "foxy": - return [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=params, - output="log", - ) - ] - else: - return [ - GroupAction([ - PushRosNamespace(LaunchConfiguration("camera_name")), - ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - parameters=params, - ), - ], - output="log", - ) - ]) - ] - - return LaunchDescription( - args + [ - OpaqueFunction(function=lambda context: create_node_action(context, args)) - ] - ) diff --git a/orbbec_camera/launch/gemini305.launch.py b/orbbec_camera/launch/gemini_301_series.launch.py similarity index 100% rename from orbbec_camera/launch/gemini305.launch.py rename to orbbec_camera/launch/gemini_301_series.launch.py